7.2. Tutorial: Signals¶
These notes are meant to accompany an in-class tutorial presentation, and may not necessarily stand alone.
(Images courtesy of wikimedia.)
7.2.1. Motors¶
- PWM
- H Bridge
- DC motor
- stepper motor
- current limits
- microstepping
- trajectory
- feedback control
H-Bridge
Stepper Motor
![https://upload.wikimedia.org/wikipedia/commons/6/67/StepperMotor.gif](https://upload.wikimedia.org/wikipedia/commons/6/67/StepperMotor.gif)
7.2.2. Signal Processing¶
- ADC
- resolution
- sample
- sampling rate
- Nyquist rater
- Fast Fourier Transform
- filter
- non-linear filters
- debouncing
- threshold
- hysteresis
- linear filters
- smoothing
- estimator
- differentiator
- phase-locked loop
Hysteresis
![https://upload.wikimedia.org/wikipedia/commons/thumb/a/aa/Hysteresis_sharp_curve.svg/480px-Hysteresis_sharp_curve.svg.png](https://upload.wikimedia.org/wikipedia/commons/thumb/a/aa/Hysteresis_sharp_curve.svg/480px-Hysteresis_sharp_curve.svg.png)
Filtering
![https://upload.wikimedia.org/wikipedia/commons/thumb/9/92/Low-pass_filter_diagram.svg/500px-Low-pass_filter_diagram.svg.png](https://upload.wikimedia.org/wikipedia/commons/thumb/9/92/Low-pass_filter_diagram.svg/500px-Low-pass_filter_diagram.svg.png)
Sampling
![https://upload.wikimedia.org/wikipedia/commons/c/c2/Nyquist_Shannon_theorem_sine_visualisation_animation.gif](https://upload.wikimedia.org/wikipedia/commons/c/c2/Nyquist_Shannon_theorem_sine_visualisation_animation.gif)
7.2.3. Real-Time Computation¶
- blocking vs non-blocking processes
- event loop
- timers
- state machines